/*
trajectory planning for six-dof robotic arm
*/

#ifndef __TRAJPLANNER_H__
#define __TRAJPLANNER_H__

#include "SE3Math.h"
#include "robot.h"

int linearPlanner(Pose* start_pose, Pose* end_pose, Pose* way_points, int max_num);
int arcPlanner(Pose* start_pose, Pose* mid_pose, Pose* end_pose, Pose* way_points, int max_num);

#endif